CN112937438B

CN112937438B - Passenger movement expectation prompting system

Info

Publication number: CN112937438B
Application number: CN202110172067.3A
Authority: CN
Inventors: 李道飞; 徐彪; 陈林辉; 潘豪; 林思远; 胡建侃
Original assignee: Zhejiang University ZJU
Current assignee: Zhejiang University ZJU
Priority date: 2021-02-08
Filing date: 2021-02-08
Publication date: 2022-08-30
Anticipated expiration: 2041-02-08
Also published as: CN112937438A

Abstract

The invention discloses a passenger movement expectation prompting system, which comprises a sensing module for sensing road conditions, vehicles and passenger postures to acquire road condition information around the vehicles, movement pose information of the vehicles and posture information of passengers. And planning the motion trail of the vehicle in a future period according to the information acquired by the sensing module, and calculating to obtain an expected passenger motion signal according to the motion trail of the vehicle. The obtained passenger movement expected signal outputs a voice prompt signal, an optical prompt signal, a vibration motor array signal and other prompts under the coordination of the interactive feedback control module, and the passenger pose is considered for adaptation. The passengers obtain the motion expectation prompt through the one-to-one correspondence of the output signals and the motion expectation, so that the carsickness probability and intensity of the passengers are reduced, and the riding comfort and the user experience are improved.

Description

Passenger movement expectation prompting system

Technical Field

The invention belongs to the field of intelligent networked vehicles, and particularly relates to a passenger movement expectation prompting system.

Background

Motion sickness, which is the general name for motion sickness, i.e. motion sickness, seasickness, motion sickness and diseases caused by rolling, jolting, rotating, accelerating movements and the like due to various reasons. Mainly, young people of 3-30 years old are common, and women are more than men. It has been shown that China is one of the countries in the world where the incidence of motion sickness is the highest and that 80% of people have experienced different degrees of motion sickness. The motion sickness occurs because of many reasons, the environment, diet, physical condition and the like have great influence, and psychological factors are especially important as an important induction factor for most patients with motion sickness history. Motion sickness is often caused by the incoordination between the intended motion and the actual perceived motion, together with physical and psychological factors of the individual.

Motion anticipation refers to the prediction of longitudinal acceleration, lateral acceleration, vertical acceleration, yaw motion, roll motion, and pitch motion of the vehicle over a future period of time of the vehicle. Multiple studies at home and abroad show that motion anticipation has a great influence on motion sickness, and if passengers can obtain correct motion anticipation, the probability and degree of motion sickness of passengers are greatly reduced.

At present, intelligent networked vehicles become a hot spot field of automobile and transportation industry, and assisted driving and automatic driving are greatly promoted by the industry and the academic community. With the arrival of advanced automatic driving vehicles, the problem of carsickness of passengers becomes an urgent problem to be solved. Some researches have proposed solutions to solve the car sickness problem by using voice prompt, optical prompt or guiding the visual attention of passengers, but the disadvantages of complex system design, poor user experience and low passenger acceptance exist. On the other hand, if the vibration motors are arranged at the positions where the passengers are in interactive contact with the vehicle in an array mode, including the foot floor and the seat, wherein the positions where the motors are arranged on the seat include the headrest, the backrest, the seat cushion, the side back support and the lower leg support, interactive feedback with the passengers is realized through the vibration frequency of the motor array, the vibration intensity of the motor and the starting and stopping sequence of the motor, so that a prompt for movement expectation is provided, and the defects can be overcome. At present, no relevant report that the vibration motor array is comprehensively applied to prompt the movement expectation of the passengers so as to improve the riding comfort of the passengers exists.

Disclosure of Invention

The invention aims to provide an occupant movement expectation prompting system aiming at the defects of the prior art.

The purpose of the invention is realized by the following technical scheme: a passenger movement expectation prompting system comprises a road condition sensing module, a vehicle sensing module, a passenger posture sensing module, a vehicle movement planning module, a movement expectation calculating module, an interactive feedback control module, a vibration motor array, a voice prompting module and an optical prompting module.

The road condition sensing module is used for sensing the future time period T _p Sensing the road conditions around the inner vehicle, including the future time period T _p Inner road width Wr, road curvature Rho, obstacle motion pose Pi.

The vehicle sensing module senses the motion pose Pv of the vehicle, and the motion pose Pv comprises a longitudinal speed Vx, a lateral speed Vy, a lateral acceleration Ay, a longitudinal acceleration Ax, a vertical acceleration Az and a yaw rate.

The passenger posture sensing module is used for monitoring the trunk posture, the hand posture, the head posture and the eye fixation position of the passenger.

The vehicle motion planning module is used for planning a future time period T according to the output of the road condition sensing module and the vehicle sensing module _p Combining the surrounding road conditions of the inner vehicle and the self motion pose Pv with a vehicle travel task navigation map to obtain a longitudinal velocity sequence Vxp (t), a lateral velocity sequence Vyp (t), a vertical velocity sequence VzpR (t) and a yaw angle sequence Yawp (t).

The motion expectation calculation module is responsible for calculating the motion excitation of a future time interval and according to the vehicle future time interval T given by the vehicle motion planning module _p Calculating a future time interval T by a longitudinal velocity sequence Vxp (T), a lateral velocity sequence Vyp (T), a vertical velocity sequence VzpR (T) and a yaw angle sequence Yawp (T) _a Inner (T) _a ≤T _p ) The occupant movement expected signal MA _ a (t) includes a longitudinal acceleration expected axa (t), a lateral acceleration expected aya (t), a vertical acceleration expected aza (t), a yaw rate expected yawratea (t), a roll rate expected rollratea (t), and a pitch rate expected pitchatea (t).

And the vibration motor array is controlled by the interactive feedback control module and is responsible for providing vibration stimulation related to the passenger movement expected signal for the passenger. The control of the vibration motor array comprises motor vibration intensity and a motor start-stop sequence. Different occupant poses enable shock motors in different positions.

The interactive feedback control module controls the transmission of interactive feedback signals according to different occupant postures given by the occupant posture sensing module, coordinates the actions of the voice prompt module, the optical prompt module and the vibration motor array, implements an occupant movement expected signal MA _ a (t) given by the movement expected calculation module, and transmits the occupant movement expected signal to the occupant through the prompt signal; the cue signals include voice cues, optical cues, and vibrations of the vibration motor array.

Further, the spatial range concerned by the road condition sensing module is a future time period T _p The space where vehicles can enter in the range is comprehensively determined according to the precision, resolution and effective range of the road condition sensing module data; the obstacles concerned by the road condition sensing module comprise motor vehicles, pedestrians, non-motor vehicles, animals, road unevenness, raised foreign matters, pits, roadside obstacles and traffic signal signs.

Further, the vehicle motion planning module first determines a future time period T _p And planning the passable area to obtain a vehicle motion track planning sequence Traj _ p (t), which comprises a vehicle path coordinate sequence (xp (t), Yp (t), zp (t) and a yaw angle sequence Yawp (t). And then calculating by using a difference method to obtain a longitudinal velocity sequence Vxp (t), a lateral velocity sequence Vyp (t) and a vertical velocity sequence VzpR (t) directly caused by the motion trail.

Further, for the automatic driving vehicle, the vehicle motion planning module adopts the motion planning result of the automatic driving algorithm to directly obtain the longitudinal velocity sequence Vxp (t), the lateral velocity sequence Vyp (t), the yaw angle sequence Yawp (t) and the vertical velocity sequence VzpR (t) directly caused by the motion track.

Further, the motion expectation calculation module calculates a longitudinal acceleration expectation sequence axa (t), a lateral acceleration expectation sequence aya (t), a vertical acceleration expectation sequence azar (t) directly caused by the motion trail and a yaw rate expectation sequence yawratea (t) by using a difference method according to the longitudinal velocity sequence vxp (t), the lateral velocity sequence vyp (t), the vertical velocity sequence vzpr (t) caused by the motion trail and the yaw rate sequence yawp (t) output by the vehicle motion planning module.

Then according to the lateral velocity sequence Vyp (t), the longitudinal velocity sequence Vxp (t), the yaw angle sequence Yawp (t) given by the vehicle motion planning module, the calculated longitudinal acceleration expectation sequence Axa (t), the lateral acceleration expectation sequence Aya (t), and the yaw angle velocity expectation sequence Yawratea (t), the lateral inclination angle velocity expectation Rollratea (t), the pitch angle velocity expectation Pitchrate (t) at the corresponding time and the vertical acceleration expectation AzAD (t) indirectly caused by the motion track are obtained on the basis of a vehicle dynamic model; the final vertical acceleration expected sequence, azar (t) + azad (t).

Further, different positions of the vibration motors are started by different positions of passengers, and the method specifically comprises the following steps:

when the occupant assumes a standing position, the array of vibratory motors disposed on the armrest and foot floor is activated.

When the occupant adopts a lying posture, the vibration motor arrays arranged on the safety belt, the leg support, the seat back, the seat cushion and the headrest are started.

When the occupant assumes a seated position, the array of shock motors disposed in the seat belt, seat back, seat cushion, head rest, and side back supports are activated.

Further, the interactive feedback control module determines the sending time and interval of the prompt signal according to the preference of the passenger and the change rate of each dimension of the passenger movement expectation signal, and specifically comprises:

when T is _a When the change rate of a certain dimension of the expected occupant movement signal at the time is equal to or greater than a set threshold value theta, the time is (T) _a -n*ΔT)…(T _a -2*ΔT)、(T _a -1 × Δ T) time, respectively, issuing a respective prompt signal; the threshold value theta, the prompting interval delta T and the prompting times n are self-defined according to the preference of the passengers.

Further, the control process of the interactive feedback control module comprises the following steps:

(1) judging whether the passenger is at rest according to the trunk posture and the head posture of the passenger; if yes, executing the step (2), and if not, executing the step (3).

(2) Closing the voice prompt and the optical display prompt, and only starting the vibration motor array to provide prompt information; and (6) jumping to the step.

(3) And (5) judging whether the attention of the passenger is ahead according to the head posture and the eye fixation position, if so, executing the step (4), and if not, executing the step (5).

(4) Voice prompt, optical display prompt, vibration motor array prompt are all on; and (6) jumping to the step.

(5) Closing the optical signal prompt, starting the voice prompt and starting the vibration motor array prompt; and (6) jumping to the step.

(6) The vibration intensity of different vibration motor arrays is designed to correspond to the amplitude of each dimension in the passenger movement expected signal MA _ a (t), and the start-stop sequence of each motor in different vibration motor arrays is designed to correspond to the direction of each dimension in the passenger movement expected signal MA _ a (t), so that the vibration prompting signal with the movement expected is transmitted to the passenger.

Further, the vibration intensities of the vibration motor arrays designed in the step (6) are corresponding to the amplitude of each dimension in the passenger movement expected signal MA _ a (t), specifically:

dividing the vibration intensity of the vibration motor array into n _w And setting different intervals for the amplitude of each dimension of the passenger movement expected signal, wherein each interval corresponds to one-gear vibration intensity, and the larger the amplitude is, the stronger the vibration intensity is.

Further, the designing of the start-stop sequence of each motor in the different vibration motor arrays in step (6) corresponds to the direction of each dimension in the expected occupant movement signal MA _ a (t), and specifically includes:

for the yaw rate expectation yawratea (t) in the occupant movement expectation signal MA _ a (t), the shock motor arrays that enable the leg support and seat cushions in the lying or sitting position are adapted according to the occupant position, the shock motor arrays that enable the foot floor in the standing position are adapted, the shock motors are turned on one by one in the circumferential direction to indicate the yaw direction, the shock motors are turned on one by one counterclockwise to indicate the movement expectation of yawing to the left, and the shock motors are turned on one by one clockwise to indicate the movement expectation of yawing to the right.

For roll angular velocity expected rollratea (t) in the occupant movement expected signal MA _ a (t), the rumble motor arrays of the leg support, seat cushion, backrest and headrest are activated in the recumbent or seated position, the rumble motor arrays of the foot floor are activated in the standing position, the rumble motors on the left side only are activated, the right side not activated indicates expected right-leaning movement, and the right side only is activated, the left side motor not activated indicates expected left-leaning movement, according to the occupant pose adaptation.

For the pitch rate expected pitchratea (t) in the occupant movement expected signal MA _ a (t), the shock motor arrays for the leg support and seat cushion are activated in the recumbent or sitting position according to the occupant pose, the shock motor arrays for the foot floor are activated in the standing position, only the front shock motor is activated, the rear side is not activated, indicating the expected forward tilting movement, and only the rear shock motor is activated, the front side is not activated, indicating the expected backward tilting movement.

For the longitudinal acceleration expectation axa (t) in the occupant movement expectation signal MA _ a (t), the shock motor arrays for the leg support and seat cushion are activated in the lying or sitting position according to the occupant pose, the shock motor arrays for the foot floor are activated in the standing position, the shock motors are turned on one by one in the longitudinal direction to represent the longitudinal acceleration direction, wherein the shock from front to back represents the longitudinal deceleration in braking, and the shock from back to front represents the longitudinal acceleration in acceleration.

For the lateral acceleration expectation aya (t) in the occupant movement expectation signal MA _ a (t), the shock motor arrays of the leg support and the seat cushion are activated in the lying or sitting position according to the occupant pose, the shock motor arrays of the foot floor are activated in the standing position, the shock motors are activated one by one in the lateral direction to represent the lateral acceleration direction, wherein the shock movement one by one from the right to the left represents the lateral acceleration movement to the left, and the shock movement one by one from the left to the right represents the lateral acceleration movement to the right.

Aiming at the vertical acceleration expectation Aza (t) in the occupant movement expectation signal MA _ a (t), adapting according to the occupant pose:

when the chair is in a lying posture or a sitting posture, the vibration motor arrays of the seat cushion, the safety belt, the backrest and the headrest are started to start the vibration motors one by one along the vertical direction to represent the vertical acceleration direction, wherein the vibration motors of the headrest, the safety belt, the backrest and the seat cushion are started in sequence from top to bottom and vibrate one by one to represent downward vertical acceleration motion, and the vibration motors of the seat cushion, the backrest and the safety belt to the headrest are started in sequence from bottom to top and vibrate one by one to represent upward vertical acceleration motion.

When the user stands, the vibration motor arrays of the armrests and the foot positions are started, the armrests vibrate the foot positions firstly and then represent upward vertical accelerated motion, and the foot positions vibrate the armrests firstly and then represent downward vertical accelerated motion.

Compared with the prior art, the invention has the beneficial effects that:

1. the invention can acquire the motion expectation of the vehicle through real-time road condition perception and vehicle perception, which comprises a longitudinal acceleration expectation Axa (t), a lateral acceleration expectation Aya (t), a vertical acceleration expectation Aza (t), a yaw motion expectation Yawa (t), a roll motion expectation Rolla (t) and a pitch motion expectation Pitch (t). The obtained motion expected information is transmitted to passengers through optical prompt, voice prompt, motor start and stop sequence of a vibration motor array, motor vibration strength and motor vibration frequency, the passenger carsickness probability and the carsickness degree in the vehicle running process are reduced, and the riding comfort of the passengers is improved;

2. the vehicle-mounted passenger posture detection device can detect the posture of a passenger in a vehicle through the passenger posture sensing module, and comprises a trunk posture, a hand posture, a head posture and an eye fixation position, wherein the trunk posture comprises a standing posture, a sitting posture, a leaning posture, a lying posture and a semi-lying posture, the head posture comprises the orientation and the position of the head of the passenger, and the eye fixation position is the eye fixation point position of the passenger. The interactive feedback control module may then control the delivery of the interactive feedback signal according to the different occupant poses: when the trunk posture and the head posture of the passenger indicate that the passenger is at rest, the voice prompt and the optical display prompt are closed, and only the vibration motor array is adopted to provide prompt information; when the head posture and the eye fixation position indicate that the visual attention requirement of the passenger is high, the volume of the voice prompt module is reduced, the optical signal prompt is closed, and the vibration motor array prompt is started;

3. the invention transmits the expected movement information of the vehicle to passengers through the starting and stopping sequence of the motor of the vibration motor array, the vibration intensity of the motor and the vibration frequency of the motor. This is a haptic feedback-based reminder system that does not require the occupant to look up the head, so the occupant can perform some non-driving tasks while the vehicle is in motion, such as: reading books, videos and the like, so the user experience can be greatly improved.

Drawings

FIG. 1 is a block diagram of the system of the present invention;

FIG. 2 is a schematic diagram of a control process of the interactive feedback control module;

FIG. 3 is a schematic diagram of the vibration motor array arrangement of the present invention in a recumbent and seated position seat; wherein, (a) is a lying-position seat vibration motor array arrangement, and (b) a sitting-position seat vibration motor array arrangement;

FIG. 4 is an example of a vehicle collision avoidance scenario;

FIG. 5 is a motion expected response curve in a vehicle collision avoidance scenario;

in the figure, a passenger 1, a lying-position seat headrest vibration motor array 2, a lying-position seat backrest vibration motor array 3, a lying-position seat cushion vibration motor array 4, a lying-position seat cushion vibration motor array 5, a lying-position seat leg support vibration motor array 6, a sitting-position seat cushion support vibration motor array 7, a sitting-position seat backrest vibration motor array 8, and a sitting-position seat headrest vibration motor array 9.

Detailed Description

The following detailed description of embodiments of the invention is provided in connection with the accompanying drawings. The following examples or figures are illustrative of the present invention and are not intended to limit the scope of the present invention.

The invention relates to a passenger movement expectation prompting system which comprises a road condition sensing module, a vehicle sensing module, a passenger posture sensing module, a vehicle movement planning module, a movement expectation calculating module, an interactive feedback control module, a vibration motor array, a voice prompting module and an optical prompting module.

(1) The road condition sensing module is used for sensing the future time period T _p Sensing the road conditions around the inner vehicle, including the future time period T _p Inner road width Wr, road curvature Rho, obstacle motion pose Pi.

The space range concerned by the road condition perception module is a future time period T _p The space where vehicles can enter in the range is comprehensively determined according to the precision, resolution and effective range of the road condition sensing module data; obstacle concerned by road condition sensing moduleThe object comprises motor vehicles, pedestrians, non-motor vehicles, animals, road unevenness, raised foreign bodies, pits, roadside obstacles and traffic signal signs.

(2) The vehicle sensing module senses the motion pose Pv of the vehicle, and the motion pose Pv comprises the longitudinal speed Vx, the lateral speed Vy, the lateral acceleration Ay, the longitudinal acceleration Ax, the vertical acceleration Az and the yaw rate of the vehicle.

The data of the road condition sensing module and the vehicle sensing module are derived from data provided by the vehicle sensing and processing system, the high-precision map, the road traffic facility and other traffic participants through the internet of vehicles; the vehicle sensing and processing system comprises a laser radar, a camera, a millimeter wave radar, an ultrasonic radar, a multi-axis inertial navigation sensor, a vehicle data bus and a sensing information processing module.

(3) The passenger posture sensing module is used for detecting the posture of a passenger in the vehicle, monitoring the trunk posture, the hand posture and the head posture of the passenger through a plurality of cameras, and monitoring the eye gaze position through an infrared camera and a processing system. Wherein the trunk posture comprises standing posture, sitting posture, leaning posture, lying posture and semi-lying posture; the head pose comprises the orientation and position of the occupant's head; the eye fixation position is the fixation point position of the eyes of the passenger.

(4) The vehicle motion planning module is used for planning the future time period T according to the dynamic and static traffic scene information provided by the road condition sensing module and the vehicle sensing module _p And (3) calculating the longitudinal velocity sequence Vxp (t), the lateral velocity sequence Vyp (t), the vertical velocity sequence VzpR (t) and the yaw angle sequence Yawp (t) by combining the surrounding road conditions of the inner vehicle and the self motion pose Pv with a vehicle travel task navigation map determined by a driver or a passenger.

First, a future time interval T is determined _p And planning the passable area to obtain a vehicle motion track planning sequence Traj _ p (t), which comprises a vehicle path coordinate sequence (xp (t), Yp (t), zp (t) and a yaw angle sequence Yawp (t). According to T _p K is ts, k is a motion trajectory value according to a sampling step length ts, and Traj _ p (t) is [ Traj _ p (1 is ts); traj _ p (2 × ts); traj _ p (3 × ts); …, respectively; traj _ p (k ts)]。

And calculating the longitudinal speed, the lateral speed and the vertical speed by using a difference method according to the lateral, longitudinal and vertical position sequences in the vehicle motion track planning sequence Traj _ p (t). And obtaining a longitudinal velocity sequence Vxp (t), a lateral velocity sequence Vyp (t) and a vertical velocity sequence VzpR (t) directly caused by the motion track according to the path coordinate sequence (Xp (t), Yp (t)), Zp (t) and the path coordinate sequence (Xp (t), Yp (t), Zp (t-ts)) at the t-ts moment of the previous sampling step length.

For the automatic driving vehicle, the vehicle motion planning module adopts the motion planning result of an automatic driving algorithm to directly obtain a longitudinal velocity sequence Vxp (t), a lateral velocity sequence Vyp (t), a yaw angle sequence Yawp (t) and a vertical velocity sequence VzpR (t) directly caused by a motion track.

(5) The motion expectation calculation module is responsible for calculating the motion excitation of a future time period according to the vehicle future time period T given by the vehicle motion planning module _p Calculating a future time interval T by a longitudinal velocity sequence Vxp (T), a lateral velocity sequence Vyp (T), a vertical velocity sequence VzpR (T) and a yaw sequence Yawp (T) _a Inner (T) _a ≤T _p ) The occupant movement expected signal MA _ a (t) includes a longitudinal acceleration expected axa (t), a lateral acceleration expected aya (t), a vertical acceleration expected aza (t), a yaw rate expected yawratea (t), a roll rate expected rollratea (t), and a pitch rate expected pitchatea (t).

According to a longitudinal velocity sequence Vxp (t), a lateral velocity sequence Vyp (t) and a vertical velocity sequence VzpR (t) caused by the motion trail output by the vehicle motion planning module, a difference method is used for calculating longitudinal and lateral acceleration expectation and vertical acceleration expectation directly caused by the motion trail. In particular, according to T _a Time longitudinal velocity Vxp (T) _a ) And the previous sampling step length T _a Longitudinal velocity Vxp (T) at time ts _a Ts), further yielding a longitudinal acceleration expectation Axa (T) _a )＝(Vxp(T _a )-Vxp(T _a -ts))/ts; according to T _a Time lateral velocity Vyp (T) _a ) And the previous sampling step length T _a Lateral velocity Vyp (T) at time ts _a Ts), further obtaining a lateral acceleration expectation Aya (T) _a )＝(Vyp(T _a )-Vyp(T _a -ts))/ts; according to T _a Time vertical velocity VzpR (T) _a ) And a previous sampling step length T _a Vertical velocity VzpR (T) at time-ts _a Ts), further obtaining the expected AzAR (T) of vertical acceleration directly caused by the motion trajectory _a )＝(VzpR(T _a )-VzpR(T _a -ts))/ts; t can be calculated similarly _a The expected values at the previous time are obtained as a longitudinal acceleration expected sequence Axa (t), a lateral acceleration expected sequence Aya (t), and a vertical acceleration expected sequence AzAR (t) directly caused by the motion trajectory.

And calculating the expected yawratea (t) of the yaw velocity by using a difference method according to the yaw angle sequence yawp (t) given by the vehicle motion planning module. In particular, according to T _a Moment yaw angle Yawp (T) _a ) And the previous sampling step length T _a Yaw angle Yawp (T) at time ts _a Ts), further deriving the yaw rate expected Yawratea (T) _a )＝(Yawp(T _a )-Yawp(T _a -ts))/ts; t can be calculated similarly _a The yaw rate expected sequence yawratea (t) is obtained from the expected values at the previous time instants.

According to the lateral velocity sequence Vyp (t), the longitudinal velocity sequence Vxp (t), the yaw angle sequence Yawp (t) given by the vehicle motion planning module, the calculated longitudinal acceleration expected sequence Axa (t), the lateral acceleration expected sequence Aya (t), and the yaw angle velocity expected sequence Yawratea (t), the roll angular velocity expected Rollratea (t), the pitch angular velocity expected Pitchratea (t) at the corresponding moment and the vertical acceleration expected Azad (t) indirectly caused by the motion trail are obtained based on a vehicle dynamic model design state estimation algorithm; the final vertical acceleration prediction sequence, azar (t), includes a direct portion, azar (t), and an indirect portion, azad (t), namely, azar (t) + azad (t); the vehicle dynamic model comprises front and rear suspension characteristics of a vehicle, vehicle mass parameters and road surface unevenness characteristics.

(7) The vibration motor array is controlled by the interactive feedback control module and is responsible for providing vibration stimulation related to the expected signal of the movement of the passenger for the passenger. The control of the vibration motor array comprises motor vibration intensity and a motor start-stop sequence.

The vibration motor is arranged at the position where the passenger is in contact with the vehicle, and comprises an armrest, a foot floor and a seat; the positions of the seat where the motor is arranged include a headrest, a backrest, a seat cushion, leg supports and side back supports. The seat headrest, the backrest and the seat cushion are respectively provided with at least a left vibrating motor and a right vibrating motor.

The passenger pose adaptation of the vibration motor array is specifically as follows: when the passenger adopts a standing posture, starting the vibration motor arrays arranged on the armrests and the foot floors; when the passenger adopts a lying posture, starting a vibration motor array arranged on a safety belt, a leg support, a seat back, a seat cushion and a headrest; when the occupant assumes a seated position, the array of shock motors disposed in the seat belt, seat back, seat cushion, head rest, and side back supports are activated.

As shown in fig. 3, the arrangement of the lying posture seat vibration motor arrays comprises a lying posture seat headrest vibration motor array 2, a lying posture seat backrest vibration motor array 3, a lying posture seat cushion vibration motor array 4 and a lying posture seat leg support vibration motor array 5; the sitting posture seat vibration motor array arrangement comprises a sitting posture seat cushion vibration motor array 6, a sitting posture seat side back support vibration motor array 7, a sitting posture seat back vibration motor array 8 and a sitting posture seat headrest vibration motor array 9.

(8) The voice prompt module is controlled by the interactive feedback control module and is responsible for voice prompt forms and contents, and the contents can be adjusted to include volume, tone and play contents.

(9) The optical prompting module is controlled by the interactive feedback control module and is responsible for optical signal forms and contents, and the contents can be adjusted to include characters, videos, pictures, brightness and resolution.

(10) The interactive feedback control module is used for controlling the transmission of interactive feedback signals according to different occupant postures given by the occupant posture sensing module, coordinating the actions of the voice prompt module, the optical prompt module and the vibration motor array, implementing occupant movement expected signals MA _ a (t) given by the movement expected calculation module, and transmitting the occupant movement expected signals to the occupants through the prompt signals; the cue signals include voice cues, optical cues, and vibrations of the vibration motor array. The specific coordination content comprises voice prompt form and content, optical signal form and content, prompt signal frequency, vibration motor array passenger pose adaptation, motor array vibration strength and motor start-stop sequence.

Determining the sending time and interval of the prompting signal according to the preference of the passenger and the change rate of each dimension of the passenger movement expectation signal; in particular, according to T _a Moment motion expectation MA _ a (T) _a ) And the previous sampling step length T _a Motion expectation MA _ a (T) at time ts _a Ts) to obtain the expected rate of change of motion (MA _ a (T) _a )-MA_a(T _a -ts))/ts. When the change rate of a certain dimension of the occupant movement expectation signal at time Ta is equal to or greater than a set threshold value theta, the signal is at (T) _a -n*ΔT)…(T _a -2*ΔT)、(T _a -1 × Δ T) each emits a corresponding alert signal; when the change rate of a certain dimension is smaller than a set threshold theta, a prompt signal corresponding to the dimension is not sent; the threshold value theta, the prompting interval delta T and the prompting times n are selected according to the preference of the passengers.

As shown in fig. 2, the control process of the interactive feedback control module includes the following steps:

(2) Closing the voice prompt and the optical display prompt, and providing prompt information only by adopting a vibration motor array; and (6) jumping to the step.

(3) And (4) judging whether the attention of the passenger is ahead according to the head posture and the eye watching positions, if the head posture is that the face is also ahead to the eye watching positions, indicating that the attention of the passenger is ahead, and executing the step (4) if the head posture is not the face to the eye watching positions, and executing the step (5).

(5) At the moment, the visual attention demand of the passengers is high, the optical signal prompt is closed, the voice prompt is started, and the vibration motor array prompt is started; and (6) jumping to the step.

(6) The amplitude and the direction of the passenger movement expected signal MA _ a (t) are transmitted by utilizing the start-stop sequence and the vibration intensity of the vibration motor array, and the method specifically comprises the following steps:

dividing the vibration intensity of the vibration motor array into n _w Gear (n) _w Not less than 2), vibration prompt signals of all dimensions of the motion expectation signals correspond to vibration intensities of different gears according to the interval to which the amplitude belongs, and positive correlation is formed.

The vibration intensity of the motor array is defined as the total power Pmotor of the output vibration excitation signal, is determined by the vibration number Nmotor, the vibration frequency Fmotor and the vibration amplitude Mmotor of the motor, and can be determined by a motor power calculation or vibration excitation signal acquisition and analysis method. The method for acquiring and analyzing the vibration excitation signals comprises the steps of acquiring vibration excitation acceleration signals of each motor in an array, traversing the combination of the number, the frequency and the amplitude of the motors, and obtaining the mapping relation between the total power Pmotor of the vibration excitation signals and the vibration number Nmotor, the vibration frequency Fmotor and the vibration amplitude Mmotor of the motors and the maximum vibration intensity during full load.

When the vibration intensity is in the ith gear, the vibration intensity of the vibration motor array is i/n of the maximum vibration intensity under full load _w ，i＝1～n _w 。

Correspondingly, limit vector with magnitude

M _max ＝[Axa _max ,Aya _max ,Aza _max ,Yawratea _max ,Rollratea _max ,Pitchratea _max ]For limitation, the amplitude range of each dimension of the expected occupant movement signal MA _ a (t) is divided into n _w A section: (0 to M) _max,j /(n _w -1)]、(M _max,j /(n _w -1)～2*M _max,j /(n _w -1)]、…、((n _w -2)M _max,j /(n _w -1),M _max,j ]、(M _max,j , + ∞); wherein M is _max,j Representation Axa _max 、Aya _max 、Aza _max 、Yawratea _max 、Rollratea _max 、Pitchratea _max One of them.

With n _w 4, linear acceleration amplitude limit of 0.9g, angular velocity amplitude limit of 60 degrees/second, wherein the expected amplitudes of longitudinal, lateral and vertical linear accelerations are divided into (0,0.3 g)]、(0.3g,0.6g]、(0.6g,0.9g]、(0.9g,+∞)4 sections in total; the expected magnitude of the angular velocities for yaw, roll and pitch motion is divided into (0, 20)]、(20,40]、(40,60]4 segments (60, + ∞) in degrees/second.

For the yaw rate expectation yawratea (t) in the occupant movement expectation signal MA _ a (t), the vibration motor arrays of the leg support and the seat cushion are enabled in the lying or sitting position according to the occupant pose, the vibration motor arrays of the foot floor are enabled in the standing position, the vibration motors are turned on one by one along the circumferential direction to represent the yaw direction, the vibration motors are turned on one by one anticlockwise to represent the movement expectation of yawing leftwards, and the vibration motors are turned on one by one clockwise to represent the movement expectation of yawing rightwards; when yaw rate expects Yawratea (t) e ((i-1) × Yawratea _max /(n _w -1),i*Yawratea _max /(n _w -1)]Wherein i is 1 to n _w -1, corresponding to the i-th gear shock intensity; when yaw rate is expected Yawratea (t) > Yawratea _max When it corresponds to the n-th _w And (5) vibration strength.

For roll angular velocity expected rollratea (t) in the occupant movement expected signal MA _ a (t), according to occupant pose adaptation, the rumble motor arrays of the leg support, seat cushion, backrest and headrest are enabled in the lying or sitting position, the rumble motor array of the foot floor is enabled in the standing position, only the rumble motor on the left side is turned on, the right side is not turned on to indicate expected right-leaning movement, only the right side motor is turned on, and the left side motor is not turned on to indicate expected left-leaning movement; when roll angular velocity is expected from Rollratea (t) e ((i-1) · Rollratea) _max /(n _w -1),i*Rollratea _max /(n _w -1)]Wherein i is 1 to n _w 1, corresponding to the vibration intensity of the ith gear; roll angular velocity when roll angular velocity is expected (t) > roll _max When it corresponds to the n-th _w And (4) vibration strength.

Aiming at the expected pitchage rate (t) in the expected passenger movement signal MA _ a (t), the vibration motor arrays of the leg support and the seat cushion are started when the passenger positions or postures are adapted, the vibration motor arrays of the foot floor are started when the passenger positions or postures are adopted, only the front vibration motor is started, the rear side is not started to show the expected forward-leaning movement, only the rear vibration motor is started, and the rear vibration motor is not startedThe anterior side represents the expected retroversion motion; expected Pitchratea (t) e ((i-1) · Pitchratea) when the pitch angle velocity _max /(n _w -1),i*Pitchratea _max /(n _w -1)]Wherein i is 1 to n _w 1, corresponding to the vibration intensity of the ith gear; pitch Rate expected Pitchrate (t) > Pitchrate _max When it corresponds to the n-th _w And (4) vibration strength.

Aiming at the expected axial acceleration Axa (t) in the expected signal MA _ a (t) of the movement of the passenger, the vibration motor arrays of the leg support and the seat cushion are started in the lying posture or the sitting posture according to the posture of the passenger, the vibration motor arrays of the foot floor are started in the standing posture, the vibration motors are started one by one in the longitudinal direction to represent the direction of the longitudinal acceleration, wherein the vibration one by one from the front to the back represents the longitudinal deceleration in braking, and the vibration one by one from the back to the front represents the longitudinal acceleration in acceleration; when the longitudinal acceleration is expected Axa (t) epsilon ((i-1) × Axa _max /(n _w -1),i*Axa _max /(n _w -1)]Wherein i is 1 to n _w 1, corresponding to the vibration intensity of the ith gear; when the longitudinal acceleration is expected Axa (t) > Axa _max When it corresponds to the n-th _w And (4) vibration strength.

Aiming at the lateral acceleration expectation Aya (t) in the occupant movement expectation signal MA _ a (t), the vibration motor arrays of the leg support and the seat cushion are started in the lying posture or the sitting posture according to the occupant pose, the vibration motor arrays of the foot floor are started in the standing posture, the vibration motors are started one by one in the lateral direction to represent the lateral acceleration direction, wherein the vibration from right to left represents the lateral acceleration movement from left, and the vibration from left to right represents the lateral acceleration movement from right; when lateral acceleration is expected Aya (t) e ((i-1) × Aya) _max /(n _w -1)i*Aya _max /(n _w -1)]Wherein i is 1 to n _w 1, corresponding to the vibration intensity of the ith gear; when lateral acceleration is expected Aya (t) > Aya _max When corresponds to the n-th _w And (4) vibration strength.

When the user stands, starting the vibration motor arrays at the positions of the armrests and the feet, wherein the armrests vibrate the positions of the feet firstly and then express upward vertical accelerated motion, and the positions of the feet vibrate the armrests firstly and then express downward vertical accelerated motion; when the vertical acceleration is expected, Aza (t) epsilon ((i-1) · Aza) _max /(n _w -1),i*Aza _max /(n _w -1)]Wherein i is less than or equal to n _w -1, corresponding to the i-th gear shock intensity; when the vertical acceleration is expected to Aza (t) > Aza _max When it corresponds to the n-th _w And (4) vibration strength.

(7) Finally, the aim of improving the riding comfort of passengers is fulfilled.

Fig. 4 shows a hypothetical collision avoidance scenario in which the road is level, ignoring vertical, roll, and pitch motion of the vehicle. Assume that in this scenario, the occupant remains seated. The specific situation of the collision avoidance scene of the vehicle is finally obtained to be between 0 and T through the modules of perception, motion planning, motion expectation calculation and the like _a The expected response curve for vehicle motion at that time is shown in fig. 5.

In the scenario of fig. 4, the occupant remains seated and the eyes are looking forward. For the longitudinal acceleration axa (t) in the intended motion, as shown in fig. 5, the longitudinal acceleration is substantially in the vicinity of 0, and therefore the longitudinal vibrating motor does not vibrate. For the lateral acceleration aya (t) in the expected movement, as shown in fig. 5, the direction of Ay in the first stage is rightward and shows a trend of increasing first and then decreasing, so that the vibration motor array is started from left to right one by one to show the direction of Ay to be leftward, and the number of motors, the vibration frequency and the amplitude of the vibration motors are increased first and then decreased until all the vibration motors are stopped, that is, Ay is increased first and then decreased until the vibration motor array returns to zero; in the second stage, the Ay direction is towards the left, and the tendency of increasing first and then decreasing is also presented, so that the vibration motor arrays are started from right to left one by one to indicate that the Ay direction is towards the left, and the number, vibration frequency and amplitude of the motors are increased first and then decreased until all the motors are stopped to indicate that the Ay is increased first and then decreased until the Ay returns to zero; and in the third stage, the vibration motor array is started from left to right one by one to show the direction of Ay to the left, and the number, vibration frequency and amplitude of the motors are increased and then reduced until all the motors are stopped to show that Ay is increased and then reduced until the Ay returns to zero. For the yaw motion in the expected motion, as shown in fig. 4, the yaw direction in the first stage is rightward, and the yaw velocity shows the trend of increasing first and then decreasing, so that the vibration motor arrays are started clockwise one by one to show that the yaw direction is rightward, and the number, vibration frequency and amplitude of the motors are increased first and then decreased until all the motors stop to show that the yaw velocity increases first and then decreases until the yaw velocity returns to zero; in the second stage, the yaw direction is leftward, and the yaw velocity shows the trend of increasing first and then decreasing, so that the vibration motor arrays are started anticlockwise one by one to show that the yaw direction is rightward, and the number, vibration frequency and amplitude of the motors are increased first and then decreased until all the motors are stopped to show that the yaw velocity is increased first and then decreased until the yaw velocity returns to zero; and in the third stage, the vibration motor arrays are started clockwise one by one to show that the yaw direction is rightward, and the number, vibration frequency and amplitude of the motors are increased and then decreased until all the motors are stopped to show that the yaw angular speed is increased and then decreased until the yaw angular speed returns to zero. In addition to the rumble motor array sending motion anticipation signals to the occupant, voice prompts and optical prompts are used to send signals.

Depending on the occupant preferences, a simplified intermittent prompting scheme may be selected, with the aforementioned longitudinal acceleration, lateral acceleration, yaw motion anticipation, and the occupant is only prompted when the rate of change of acceleration or yaw angle exceeds a certain threshold. For example, the occupant is only signaled when a drastic change in acceleration, yaw angle, or even a change in direction is expected.

Finally, the passengers obtain the motion expectation of the vehicle through motion expectation signals sent by the vibration motor array, the voice prompt and the optical prompt, so that the carsickness probability of the passengers is reduced, and the riding comfort and the user experience are improved.

As in the scenarios of fig. 4 and 5, assuming that the occupant does not notice the obstacle ahead at this time, if the system does not provide a prompt, it is not expected for the violent vehicle movement caused by the urgent collision ahead, and is likely to cause discomfort. When the system is equipped, even if the passengers do not pay attention to the front obstacles or even the passengers are reading, the system prompts the passengers to generate movement expectation, prepares for movement in a short period, and can improve comfort and user experience.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A passenger movement expectation prompting system is characterized by comprising a road condition sensing module, a vehicle sensing module, a passenger posture sensing module, a vehicle movement planning module, a movement expectation calculating module, an interactive feedback control module, a vibration motor array, a voice prompting module and an optical prompting module;

the road condition sensing module is used for sensing the future time period T _p Sensing the road conditions around the inner vehicle, including the future time period T _p The inner road width Wr, the road curvature Rho and the obstacle motion pose Pi;

the vehicle sensing module senses the motion pose Pv of the vehicle, and the motion pose Pv comprises a longitudinal speed Vx, a lateral speed Vy, a lateral acceleration Ay, a longitudinal acceleration Ax, a vertical acceleration Az and a yaw rate Yawrate of the vehicle;

the passenger posture sensing module is used for monitoring the trunk posture, the hand posture, the head posture and the eye fixation position of a passenger;

the vehicle motion planning module is used for planning the future time period T according to the output of the road condition sensing module and the vehicle sensing module _p Combining the peripheral road condition of the inner vehicle and the self motion pose Pv with a vehicle travel task navigation map to obtain a longitudinal velocity sequence Vxp (t), a lateral velocity sequence Vyp (t), a vertical velocity sequence VzpR (t) and a yaw angle sequence Yawp (t);

the motion expectation calculation module is responsible for calculating the motion excitation of a future time period according to the motion excitation given by the vehicle motion planning moduleFuture time period T of vehicle _p Calculating a future time interval T by a longitudinal velocity sequence Vxp (T), a lateral velocity sequence Vyp (T), a vertical velocity sequence VzpR (T) and a yaw sequence Yawp (T) _a Inner (T) _a ≤T _p ) The occupant movement expected signal MA _ a (t) of (1) includes a longitudinal acceleration expected axa (t), a lateral acceleration expected aya (t), a vertical acceleration expected aza (t), a yaw rate expected yawratea (t), a roll rate expected rollratea (t), a pitch rate expected pitchatea (t);

the vibration motor array is controlled by the interactive feedback control module and is responsible for providing vibration stimulation related to the passenger movement expected signal for the passenger; the control of the vibration motor array comprises motor vibration intensity and a motor start-stop sequence; enabling the vibration motors at different positions by different passenger poses;

2. The occupant movement expectation prompt system as claimed in claim 1, wherein the spatial range of interest of the road condition sensing module is a future time period T _p The space where vehicles can enter in the range is comprehensively determined according to the precision, resolution and effective range of the road condition sensing module data; the obstacles concerned by the road condition sensing module comprise motor vehicles, pedestrians, non-motor vehicles, animals, road unevenness, raised foreign matters, pits, roadside obstacles and traffic signal signs.

3. The occupant movement expectation prompt system as claimed in claim 1, wherein the vehicle movement planning module first determines a future time period T _p Planning to obtain a vehicle motion track planning sequence Traj _ p (t) including vehicles in a passable areaThe vehicle path coordinate sequence (xp (t), Yp (t), zp (t) and the yaw angle sequence Yawp (t); and then calculating a longitudinal velocity sequence Vxp (t), a lateral velocity sequence Vyp (t) and a vertical velocity sequence VzpR (t) directly caused by the motion trail by using a difference method.

4. The occupant movement expectation prompt system according to claim 1, wherein, for the automated driving vehicle, the vehicle movement planning module directly obtains the longitudinal velocity sequence vxp (t), the lateral velocity sequence vyp (t), the yaw angle sequence yawp (t), and the vertical velocity sequence vzpr (t) directly caused by the movement locus, using the movement planning result of the automated driving algorithm.

5. The occupant movement expectation prompt system according to claim 1, wherein the movement expectation calculation module calculates a longitudinal acceleration expectation sequence axa (t), a lateral acceleration expectation sequence aya (t), a vertical acceleration expectation sequence azar (t) directly caused by the movement locus, and a yaw rate expectation sequence yawratea (t) by using a difference method according to the longitudinal velocity sequence vxp (t), the lateral velocity sequence vyp (t), the vertical velocity sequence vzpr (t) caused by the movement locus, and the yaw rate sequence yawp (t) output by the vehicle movement planning module;

then according to the lateral velocity sequence Vyp (t), the longitudinal velocity sequence Vxp (t), the yaw angle sequence Yawp (t) given by the vehicle motion planning module, the calculated longitudinal acceleration expectation Axa (t), the lateral acceleration expectation Aya (t), the yaw angle velocity expectation Yawratea (t), the vehicle dynamics model is used for obtaining the roll angular velocity expectation Rollratea (t), the pitch angular velocity expectation Pitchratea (t) at the corresponding moment and the vertical acceleration expectation Azad (t) caused by the motion trail indirectly; the final vertical acceleration is expected to be azar (t) ═ azar (t) + azad (t).

6. The occupant movement expectation prompt system as claimed in claim 1, wherein different occupant poses enable shock motors at different positions, in particular:

when the passenger adopts a standing posture, starting the vibration motor arrays arranged on the armrests and the foot floors;

when the passenger adopts a lying posture, starting a vibration motor array arranged on a safety belt, a leg support, a seat back, a seat cushion and a headrest;

7. The occupant movement expectation prompt system as claimed in claim 1, wherein the interactive feedback control module determines the sending timing and interval of the prompt signal according to the occupant preference and the change rate of each dimension of the occupant movement expectation signal, and specifically comprises:

when T is _a When the change rate of a certain dimension of the expected occupant movement signal at the time is equal to or greater than a set threshold value theta, the time is (T) _a -n*ΔT)…(T _a -2*ΔT)、(T _a -1 × Δ T) each emits a corresponding alert signal; the threshold value theta, the prompt interval delta T and the prompt times n are self-defined according to the preference of the passengers.

8. The occupant movement expectation prompt system as claimed in claim 1, wherein the control process of the interactive feedback control module comprises the steps of:

(1) judging whether the passenger is at rest according to the trunk posture and the head posture of the passenger; if yes, executing the step (2), and if not, executing the step (3);

(2) closing the voice prompt and the optical display prompt, and only starting the vibration motor array to provide prompt information; jumping to the step (6);

(3) judging whether the attention of the passenger is ahead according to the head posture and the eye fixation position, if so, executing the step (4), and if not, executing the step (5);

(4) voice prompt, optical display prompt, vibration motor array prompt are all on; jumping to the step (6);

(5) closing the optical signal prompt, starting the voice prompt and starting the vibration motor array prompt; jumping to the step (6);

9. The occupant movement expectation prompt system as claimed in claim 8, wherein the vibration intensities of the vibration motor arrays designed in step (6) are different according to the magnitude of each dimension in the transmitted occupant movement expectation signal MA _ a (t), specifically:

dividing the vibration intensity of the vibration motor array into n _w And setting different intervals for the amplitude of each dimensionality of the passenger movement expected signal, wherein each interval corresponds to a first-gear vibration intensity, and the larger the amplitude is, the stronger the vibration intensity is.

10. The occupant movement expectation prompt system according to claim 8, wherein the start-stop sequence of each motor in the different vibrating motor arrays designed in the step (6) corresponds to the direction of each dimension in the occupant movement expectation signal MA _ a (t), specifically:

aiming at the expected yawratea (t) of the yaw angular velocity in the passenger movement expected signal MA _ a (t), the vibration motor arrays of the leg support and the seat cushion are started in the lying position or the sitting position according to the passenger position, the vibration motor arrays of the foot floor are started in the standing position, the vibration motors are started one by one along the circumferential direction to represent the yaw direction, the vibration motors are started one by one anticlockwise to represent the movement expectation of the leftward yaw, and the vibration motors are started one by one clockwise to represent the movement expectation of the rightward yaw;

for roll angular velocity expected rollratea (t) in the occupant movement expected signal MA _ a (t), according to occupant pose adaptation, the rumble motor arrays of the leg support, seat cushion, backrest and headrest are enabled in the lying or sitting position, the rumble motor array of the foot floor is enabled in the standing position, only the rumble motor on the left side is turned on, the right side is not turned on to indicate expected right-leaning movement, only the right side motor is turned on, and the left side motor is not turned on to indicate expected left-leaning movement;

aiming at the expected pitchrate (t) in the expected signal MA _ a (t) of the movement of the passenger, the vibration motor arrays of the leg support and the seat cushion are started when the position of the passenger is recumbent or sitting, the vibration motor arrays of the foot floor are started when the passenger is standing, only the front vibration motor is started, the rear side is not started to show the expected forward-leaning movement, and only the rear vibration motor is started, the front side is not started to show the expected backward-leaning movement;

aiming at the expected axial acceleration Axa (t) in the expected signal MA _ a (t) of the movement of the passenger, the vibration motor arrays of the leg support and the seat cushion are started in the lying posture or the sitting posture according to the posture of the passenger, the vibration motor arrays of the foot floor are started in the standing posture, the vibration motors are started one by one in the longitudinal direction to represent the direction of the longitudinal acceleration, wherein the vibration one by one from the front to the back represents the longitudinal deceleration in braking, and the vibration one by one from the back to the front represents the longitudinal acceleration in acceleration;

aiming at the lateral acceleration expectation Aya (t) in the occupant movement expectation signal MA _ a (t), the vibration motor arrays of the leg support and the seat cushion are started in the lying posture or the sitting posture according to the occupant pose, the vibration motor arrays of the foot floor are started in the standing posture, the vibration motors are started one by one in the lateral direction to represent the lateral acceleration direction, wherein the vibration from right to left represents the lateral acceleration movement from left, and the vibration from left to right represents the lateral acceleration movement from right;

when the user lies or sits, starting the vibration motor arrays of the seat cushion, the safety belt, the backrest and the headrest of the seat, starting the vibration motors one by one along the vertical direction to represent the vertical acceleration direction, wherein the vibration motors of the headrest, the safety belt, the backrest and the seat cushion are sequentially started from top to bottom, the vibration motors of the seat cushion, the safety belt, the backrest and the seat cushion are sequentially started one by one, the vibration motors represent downward vertical acceleration motion, and the vibration motors of the seat cushion, the backrest and the safety belt to the headrest are sequentially started from bottom to top, and the vibration motors represent upward vertical acceleration motion one by one;

when the user stands, the vibration motor arrays of the armrests and the foot positions are started, the armrests vibrate the foot positions first and then represent upward vertical accelerated motion, and the foot positions vibrate the armrests first and then represent downward vertical accelerated motion.